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WO2009078056A1 - Moving object detecting apparatus and moving object detecting program - Google Patents

Moving object detecting apparatus and moving object detecting program Download PDF

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Publication number
WO2009078056A1
WO2009078056A1 PCT/JP2007/001404 JP2007001404W WO2009078056A1 WO 2009078056 A1 WO2009078056 A1 WO 2009078056A1 JP 2007001404 W JP2007001404 W JP 2007001404W WO 2009078056 A1 WO2009078056 A1 WO 2009078056A1
Authority
WO
WIPO (PCT)
Prior art keywords
moving object
object detecting
time
image frame
frame obtained
Prior art date
Application number
PCT/JP2007/001404
Other languages
French (fr)
Japanese (ja)
Inventor
Masami Mizutani
Original Assignee
Fujitsu Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fujitsu Limited filed Critical Fujitsu Limited
Priority to JP2009546072A priority Critical patent/JP4957807B2/en
Priority to PCT/JP2007/001404 priority patent/WO2009078056A1/en
Publication of WO2009078056A1 publication Critical patent/WO2009078056A1/en
Priority to US12/767,189 priority patent/US8150104B2/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Image Analysis (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

In first means included in an apparatus for detecting a moving object from a moving image, the amount of movement of each feature point in an image frame obtained at time t-1 is calculated on the basis of an image frame obtained at time t and the image frame obtained at time t-1. As for feature points whose amount of movement calculated by each of second means and the first means is less than a predetermined value, the amount of movement of each feature point in the image frame obtained at time t-1 is calculated on the basis of the image frame obtained at time t-1 and an image frame obtained at time t+m.
PCT/JP2007/001404 2007-12-14 2007-12-14 Moving object detecting apparatus and moving object detecting program WO2009078056A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2009546072A JP4957807B2 (en) 2007-12-14 2007-12-14 Moving object detection apparatus and moving object detection program
PCT/JP2007/001404 WO2009078056A1 (en) 2007-12-14 2007-12-14 Moving object detecting apparatus and moving object detecting program
US12/767,189 US8150104B2 (en) 2007-12-14 2010-04-26 Moving object detection apparatus and computer readable storage medium storing moving object detection program

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2007/001404 WO2009078056A1 (en) 2007-12-14 2007-12-14 Moving object detecting apparatus and moving object detecting program

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/767,189 Continuation US8150104B2 (en) 2007-12-14 2010-04-26 Moving object detection apparatus and computer readable storage medium storing moving object detection program

Publications (1)

Publication Number Publication Date
WO2009078056A1 true WO2009078056A1 (en) 2009-06-25

Family

ID=40795184

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/001404 WO2009078056A1 (en) 2007-12-14 2007-12-14 Moving object detecting apparatus and moving object detecting program

Country Status (3)

Country Link
US (1) US8150104B2 (en)
JP (1) JP4957807B2 (en)
WO (1) WO2009078056A1 (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011013890A (en) * 2009-07-01 2011-01-20 Fujifilm Corp Image composition device and method
WO2011013281A1 (en) * 2009-07-29 2011-02-03 パナソニック株式会社 Mobile body detection method and mobile body detection apparatus
US20110229109A1 (en) * 2010-03-18 2011-09-22 Canon Kabushiki Kaisha Chapter information creation apparatus and control method therefor
US9183448B2 (en) 2011-05-24 2015-11-10 Fujitsu Limited Approaching-object detector, approaching object detecting method, and recording medium storing its program
JP2017021446A (en) * 2015-07-07 2017-01-26 株式会社リコー Image processing apparatus and image processing method
JP2017067534A (en) * 2015-09-29 2017-04-06 コニカミノルタ株式会社 Movement amount detector and image formation apparatus having the same
JP2018064191A (en) * 2016-10-13 2018-04-19 日立建機株式会社 Obstacle detection system and construction machine
JP2021135934A (en) * 2020-02-28 2021-09-13 パナソニックＩｐマネジメント株式会社 Detecting device, detecting method and program
JP2022051761A (en) * 2016-06-30 2022-04-01 マジック リープ， インコーポレイテッド Estimating pose in 3d space

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8744522B2 (en) * 2009-10-21 2014-06-03 Xerox Corporation Portable security system built into cell phones
JP5521778B2 (en) * 2010-05-26 2014-06-18 富士通株式会社 Measuring device and control device
JP2013097675A (en) * 2011-11-02 2013-05-20 Honda Elesys Co Ltd Gradient estimation device, gradient estimation method, and gradient estimation program
CN103680145B (en) * 2013-12-06 2016-01-20 河海大学 A kind of people's car automatic identifying method based on local image characteristics
US10916019B2 (en) * 2019-02-01 2021-02-09 Sony Corporation Moving object detection in image frames based on optical flow maps

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08241414A (en) * 1995-03-07 1996-09-17 Matsushita Electric Ind Co Ltd Moving object detection and trace device and threshold decision device
JP2001167282A (en) * 1999-12-10 2001-06-22 Toshiba Corp Device and method for extracting moving object
JP2003044861A (en) * 2001-07-31 2003-02-14 Matsushita Electric Ind Co Ltd Method and device for detecting moving object
JP2006318345A (en) * 2005-05-16 2006-11-24 Sony Corp Object tracking method, program for object tracking method, recording medium where program for object tracking method is recorded, and object tracking device
JP2007286724A (en) * 2006-04-13 2007-11-01 Hitachi Ltd Onboard information processing method, onboard information processing program, onboard information processor and onboard information processing system

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7194110B2 (en) * 2002-12-18 2007-03-20 Intel Corporation Method and apparatus for tracking features in a video sequence
JP4892965B2 (en) 2005-12-26 2012-03-07 住友電気工業株式会社 Moving object determination system, moving object determination method, and computer program

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08241414A (en) * 1995-03-07 1996-09-17 Matsushita Electric Ind Co Ltd Moving object detection and trace device and threshold decision device
JP2001167282A (en) * 1999-12-10 2001-06-22 Toshiba Corp Device and method for extracting moving object
JP2003044861A (en) * 2001-07-31 2003-02-14 Matsushita Electric Ind Co Ltd Method and device for detecting moving object
JP2006318345A (en) * 2005-05-16 2006-11-24 Sony Corp Object tracking method, program for object tracking method, recording medium where program for object tracking method is recorded, and object tracking device
JP2007286724A (en) * 2006-04-13 2007-11-01 Hitachi Ltd Onboard information processing method, onboard information processing program, onboard information processor and onboard information processing system

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011013890A (en) * 2009-07-01 2011-01-20 Fujifilm Corp Image composition device and method
US8363902B2 (en) 2009-07-29 2013-01-29 Panasonic Corporation Moving object detection method and moving object detection apparatus
WO2011013281A1 (en) * 2009-07-29 2011-02-03 パナソニック株式会社 Mobile body detection method and mobile body detection apparatus
JP4668360B2 (en) * 2009-07-29 2011-04-13 パナソニック株式会社 Moving object detection method and moving object detection apparatus
CN102227749A (en) * 2009-07-29 2011-10-26 松下电器产业株式会社 Mobile body detection method and mobile body detection apparatus
US9025930B2 (en) * 2010-03-18 2015-05-05 Canon Kabushiki Kaisha Chapter information creation apparatus and control method therefor
US20110229109A1 (en) * 2010-03-18 2011-09-22 Canon Kabushiki Kaisha Chapter information creation apparatus and control method therefor
US9183448B2 (en) 2011-05-24 2015-11-10 Fujitsu Limited Approaching-object detector, approaching object detecting method, and recording medium storing its program
JP2017021446A (en) * 2015-07-07 2017-01-26 株式会社リコー Image processing apparatus and image processing method
JP2017067534A (en) * 2015-09-29 2017-04-06 コニカミノルタ株式会社 Movement amount detector and image formation apparatus having the same
US10116808B2 (en) 2015-09-29 2018-10-30 Konica Minolta, Inc. Moving amount detector and image forming apparatus including the same
JP2022051761A (en) * 2016-06-30 2022-04-01 マジック リープ， インコーポレイテッド Estimating pose in 3d space
JP2018064191A (en) * 2016-10-13 2018-04-19 日立建機株式会社 Obstacle detection system and construction machine
JP2021135934A (en) * 2020-02-28 2021-09-13 パナソニックＩｐマネジメント株式会社 Detecting device, detecting method and program
JP7481785B2 (en) 2020-02-28 2024-05-13 パナソニックオートモーティブシステムズ株式会社 DETECTION APPARATUS, DETECTION METHOD, AND PROGRAM

Also Published As

Publication number Publication date
JPWO2009078056A1 (en) 2011-04-28
JP4957807B2 (en) 2012-06-20
US8150104B2 (en) 2012-04-03
US20100202661A1 (en) 2010-08-12

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